From 8ae319dbdebe31f510e903fc6c09f0e76eea878a Mon Sep 17 00:00:00 2001
From: olivier-stasse <olivier.stasse@aist.go.jp>
Date: Fri, 11 Mar 2011 05:07:24 +0900
Subject: [PATCH] Revert "Move to privatepgtypes"
This reverts commit 1e8102d98230762df12653f23879ece51223e2ee.
---
include/jrl/walkgen/pgtypes.hh | 9 +++++++++
1 file changed, 9 insertions(+)
diff --git a/include/jrl/walkgen/pgtypes.hh b/include/jrl/walkgen/pgtypes.hh
index 5149a65e..b34af62f 100644
--- a/include/jrl/walkgen/pgtypes.hh
+++ b/include/jrl/walkgen/pgtypes.hh
@@ -137,6 +137,15 @@ namespace PatternGeneratorJRL
typedef struct LinearConstraintInequality_s
LinearConstraintInequality_t;
+ /// Linear constraints with variable feet placement.
+ struct LinearConstraintInequalityFreeFeet_s
+ {
+ MAL_MATRIX(D,double);
+ MAL_MATRIX(Dc,double);
+ int StepNumber;
+ };
+ typedef struct LinearConstraintInequalityFreeFeet_s
+ LinearConstraintInequalityFreeFeet_t;
}
#endif
--
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